Add blueprint to the nuscenes example (#5556)

### What
* Part of #5468

An interesting part of this is that the blueprint is dynamically created
based on the the data (which cameras there are).

Before:

![image](https://github.com/rerun-io/rerun/assets/1148717/e8c8c5f2-6502-4325-8268-1067d824494a)


After:

![image](https://github.com/rerun-io/rerun/assets/1148717/60e0673e-5e72-4dc8-8bc3-d5c6e49c7d64)




The 3D camera is (still) too zoomed out, but gathering all the 2D images
in a tab view puts more focus on the 3D view.



### Checklist
* [x] I have read and agree to [Contributor
Guide](https://github.com/rerun-io/rerun/blob/main/CONTRIBUTING.md) and
the [Code of
Conduct](https://github.com/rerun-io/rerun/blob/main/CODE_OF_CONDUCT.md)
* [x] I've included a screenshot or gif (if applicable)
* [x] I have tested the web demo (if applicable):
* Using newly built examples:
[app.rerun.io](https://app.rerun.io/pr/5556/index.html)
* Using examples from latest `main` build:
[app.rerun.io](https://app.rerun.io/pr/5556/index.html?manifest_url=https://app.rerun.io/version/main/examples_manifest.json)
* Using full set of examples from `nightly` build:
[app.rerun.io](https://app.rerun.io/pr/5556/index.html?manifest_url=https://app.rerun.io/version/nightly/examples_manifest.json)
* [x] The PR title and labels are set such as to maximize their
usefulness for the next release's CHANGELOG
* [x] If applicable, add a new check to the [release
checklist](https://github.com/rerun-io/rerun/blob/main/tests/python/release_checklist)!

- [PR Build Summary](https://build.rerun.io/pr/5556)
- [Docs
preview](https://rerun.io/preview/b620da1066ab9c4ba09a3bd0dee813cc3af1de57/docs)
<!--DOCS-PREVIEW-->
- [Examples
preview](https://rerun.io/preview/b620da1066ab9c4ba09a3bd0dee813cc3af1de57/examples)
<!--EXAMPLES-PREVIEW-->
- [Recent benchmark results](https://build.rerun.io/graphs/crates.html)
- [Wasm size tracking](https://build.rerun.io/graphs/sizes.html)

crates/re_viewer/src/ui/selection_panel.rs

@@ -855,7 +855,7 @@ fn blueprint_ui_for_space_view(
             .root_handle()
             .and_then(|root| query_result.tree.lookup_result(root))
         else {
-            re_log::error!("Could not find root data result for Space View {space_view_id:?}");
+            re_log::error_once!("Could not find root data result for Space View {space_view_id:?}");
             return;
         };
 

examples/python/arkit_scenes/main.py

@@ -330,31 +330,29 @@ def main() -> None:
 
     primary_camera_entity = highres_entity_path if args.include_highres else lowres_posed_entity_path
 
-    rr.script_setup(
-        args,
-        "rerun_example_arkit_scenes",
-        blueprint=rbl.Horizontal(
-            rbl.Spatial3DView(name="3D"),
-            rbl.Vertical(
-                rbl.Tabs(
-                    # Note that we re-project the annotations into the 2D views:
-                    # For this to work, the origin of the 2D views has to be a pinhole camera,
-                    # this way the viewer knows how to project the 3D annotations into the 2D views.
-                    rbl.Spatial2DView(
-                        name="RGB",
-                        origin=primary_camera_entity,
-                        contents=[f"{primary_camera_entity}/rgb", "/world/annotations/**"],
-                    ),
-                    rbl.Spatial2DView(
-                        name="Depth",
-                        origin=primary_camera_entity,
-                        contents=[f"{primary_camera_entity}/depth", "/world/annotations/**"],
-                    ),
+    blueprint = rbl.Horizontal(
+        rbl.Spatial3DView(name="3D"),
+        rbl.Vertical(
+            rbl.Tabs(
+                # Note that we re-project the annotations into the 2D views:
+                # For this to work, the origin of the 2D views has to be a pinhole camera,
+                # this way the viewer knows how to project the 3D annotations into the 2D views.
+                rbl.Spatial2DView(
+                    name="RGB",
+                    origin=primary_camera_entity,
+                    contents=["$origin/rgb", "/world/annotations/**"],
+                ),
+                rbl.Spatial2DView(
+                    name="Depth",
+                    origin=primary_camera_entity,
+                    contents=["$origin/depth", "/world/annotations/**"],
                 ),
-                rbl.TextDocumentView(name="Readme"),
             ),
+            rbl.TextDocumentView(name="Readme"),
         ),
     )
+
+    rr.script_setup(args, "rerun_example_arkit_scenes", blueprint=blueprint)
     recording_path = ensure_recording_available(args.video_id, args.include_highres)
     log_arkit(recording_path, args.include_highres)
 

examples/python/nuscenes/main.py

@@ -9,6 +9,7 @@
 import matplotlib
 import numpy as np
 import rerun as rr
+import rerun.blueprint as rbl
 from download_dataset import MINISPLIT_SCENES, download_minisplit
 from nuscenes import nuscenes
 
@@ -47,9 +48,28 @@ def ensure_scene_available(root_dir: pathlib.Path, dataset_version: str, scene_n
         raise ValueError(f"{scene_name=} not found in dataset")
 
 
-def log_nuscenes(root_dir: pathlib.Path, dataset_version: str, scene_name: str, max_time_sec: float) -> None:
+def nuscene_sensor_names(nusc: nuscenes.NuScenes, scene_name: str) -> set[str]:
+    """Return all sensor names in the scene."""
+
+    sensor_names = set()
+
+    scene = next(s for s in nusc.scene if s["name"] == scene_name)
+    first_sample = nusc.get("sample", scene["first_sample_token"])
+    for sample_data_token in first_sample["data"].values():
+        sample_data = nusc.get("sample_data", sample_data_token)
+        if sample_data["sensor_modality"] == "camera":
+            current_camera_token = sample_data_token
+            while current_camera_token != "":
+                sample_data = nusc.get("sample_data", current_camera_token)
+                sensor_name = sample_data["channel"]
+                sensor_names.add(sensor_name)
+                current_camera_token = sample_data["next"]
+
+    return sensor_names
+
+
+def log_nuscenes(nusc: nuscenes.NuScenes, scene_name: str, max_time_sec: float) -> None:
     """Log nuScenes scene."""
-    nusc = nuscenes.NuScenes(version=dataset_version, dataroot=root_dir, verbose=True)
 
     scene = next(s for s in nusc.scene if s["name"] == scene_name)
 
@@ -233,8 +253,25 @@ def main() -> None:
 
     ensure_scene_available(args.root_dir, args.dataset_version, args.scene_name)
 
-    rr.script_setup(args, "rerun_example_nuscenes")
-    log_nuscenes(args.root_dir, args.dataset_version, args.scene_name, max_time_sec=args.seconds)
+    nusc = nuscenes.NuScenes(version=args.dataset_version, dataroot=args.root_dir, verbose=True)
+
+    # Set up the Rerun Blueprint (how the visualization is organized):
+    sensor_space_views = [
+        rbl.Spatial2DView(
+            name=sensor_name,
+            origin=f"world/ego_vehicle/{sensor_name}",
+        )
+        for sensor_name in nuscene_sensor_names(nusc, args.scene_name)
+    ]
+    blueprint = rbl.Vertical(
+        rbl.Spatial3DView(name="3D", origin="world"),
+        rbl.Grid(*sensor_space_views),
+        row_shares=[3, 2],
+    )
+
+    rr.script_setup(args, "rerun_example_nuscenes", blueprint=blueprint)
+
+    log_nuscenes(nusc, args.scene_name, max_time_sec=args.seconds)
 
     rr.script_teardown(args)
 

rerun_py/rerun_sdk/rerun/blueprint/api.py

@@ -142,7 +142,7 @@ def __init__(
             This is only applicable to `Horizontal` or `Grid` containers.
         row_shares
             The layout shares of the rows in the container. The share is used to determine what fraction of the total height each
-            row should take up. The ros with index `i` will take up the fraction `shares[i] / total_shares`.
+            row should take up. The row with index `i` will take up the fraction `shares[i] / total_shares`.
             This is only applicable to `Vertical` or `Grid` containers.
         grid_columns
             The number of columns in the grid. This is only applicable to `Grid` containers.

rerun_py/rerun_sdk/rerun/blueprint/containers.py

@@ -39,7 +39,7 @@ def __init__(self, *contents: Container | SpaceView, row_shares: Optional[RowSha
             All positional arguments are the contents of the container, which may be either other containers or space views.
         row_shares
             The layout shares of the rows in the container. The share is used to determine what fraction of the total height each
-            row should take up. The ros with index `i` will take up the fraction `shares[i] / total_shares`.
+            row should take up. The row with index `i` will take up the fraction `shares[i] / total_shares`.
 
         """
         super().__init__(*contents, kind=ContainerKind.Vertical, row_shares=row_shares)
@@ -67,7 +67,7 @@ def __init__(
             column should take up. The column with index `i` will take up the fraction `shares[i] / total_shares`.
         row_shares
             The layout shares of the rows in the container. The share is used to determine what fraction of the total height each
-            row should take up. The ros with index `i` will take up the fraction `shares[i] / total_shares`.
+            row should take up. The row with index `i` will take up the fraction `shares[i] / total_shares`.
         grid_columns
             The number of columns in the grid.